Driving support apparatus, driver support method and non-transitory computer-readable storage medium

Abstract

A driving support apparatus is configured to execute, as a deviation control, at least one of a deviation waring for informing a driver of a host vehicle that the host vehicle deviates from a travel area and a vehicle control for controlling a travel state of the host vehicle so that the host vehicle does not deviate from the travel area. The driving support apparatus is configured to suspend or terminate the deviation control when an override condition is satisfied while the deviation control is being executed, and make the override condition more difficult to be satisfied when there is a rear approaching vehicle in the travel area than when there is no rear approaching vehicle in the travel area.

What is claimed is: 
     
         1 . A driving support apparatus configured to execute, as a deviation control, at least one of a deviation waring for informing a driver of a host vehicle that the host vehicle deviates from a travel area in which the host vehicle is traveling and a vehicle control for controlling a travel state of the host vehicle so that the host vehicle does not deviate from the travel area, when there is a possibility that the host vehicle may deviate from the travel area or when the host vehicle deviates from the travel area,
 wherein,   the driving support apparatus configured to:   suspend or terminate the deviation control when an override condition is satisfied while the deviation control is being executed, the override condition being a condition that is satisfied when a steering index value related to a steering operation performed by the driver is equal or greater than a threshold; and   make the override condition more difficult to be satisfied when there is a rear approaching vehicle in the travel area than when there is no rear approaching vehicle in the travel area, the rear approaching vehicle being a vehicle approaching the host vehicle from a rear of the host vehicle.   
     
     
         2 . The driving support apparatus according to  claim 1 ,
 wherein the override condition is satisfied when one of a right override condition and a left override condition is satisfied,   wherein,   the driving support apparatus is configured to:   determine that the right override condition is satisfied when a right steering index value related to the steering operation to a right side performed by the driver is equal or greater than the threshold;   determine that the left override condition is satisfied when a left steering index value related to the steering operation to a left side performed by the driver is equal or greater than the threshold;   when there is the rear approaching vehicle and the rear approaching vehicle indicates an intention to change lanes, make the override condition on a side of a lane change destination of the rear approaching vehicle of the right override condition and the left override condition more difficult to be satisfied than when there is no rear approaching vehicle.   
     
     
         3 . The driving support apparatus according to  claim 2 ,
 wherein,   the driving support apparatus is configured to, if the vehicle is travelling in the travel area adjacent to an overtaking lane when there is the rear approaching vehicle and the rear approaching vehicle does not indicate the intention to change lanes, make the override condition on a side of the overtaking lane of the right side override condition and the left side override condition more difficult to be satisfied than if there is no rear-approaching vehicle.   
     
     
         4 . A driving support method executed by a computer installed on a host vehicle to execute, as a deviation control, at least one of a deviation waring for informing a driver of the host vehicle that the host vehicle deviates from a travel area in which the host vehicle is traveling and a vehicle control for controlling a travel state of the host vehicle so that the host vehicle does not deviate from the travel area, when there is a possibility that the host vehicle may deviate from the travel area or when the host vehicle deviates from the travel area, comprising:
 a first step of suspending or terminating the deviation control when an override condition is satisfied while the deviation control is being executed, the override condition being a condition that is satisfied when a steering index value related to a steering operation performed by the driver is equal or greater than a threshold; and   a second step of making the override condition more difficult to be satisfied when there is a rear approaching vehicle in the travel area than when there is no rear approaching vehicle in the travel area, the rear approaching vehicle being a vehicle approaching the host vehicle from a rear of the host vehicle.   
     
     
         5 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute, as a deviation control, at least one of a deviation waring for informing a driver of the host vehicle that the host vehicle deviates from a travel area in which the host vehicle is traveling and a vehicle control for controlling a travel state of the host vehicle so that the host vehicle does not deviate from the travel area, when there is a possibility that the host vehicle may deviate from the travel area or when the host vehicle deviates from the travel area, the program causing the computer to implement processes of:
 suspending or terminating the deviation control when an override condition is satisfied while the deviation control is being executed, the override condition being a condition that is satisfied when a steering index value related to a steering operation performed by the driver is equal or greater than a threshold; and   making the override condition more difficult to be satisfied when there is a rear approaching vehicle in the travel area than when there is no rear approaching vehicle in the travel area, the rear approaching vehicle being a vehicle approaching the host vehicle from a rear of the host vehicle.